diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
index 1c356263e7..f0ea811339 100644
--- a/pid_controller/test/test_pid_controller.hpp
+++ b/pid_controller/test/test_pid_controller.hpp
@@ -78,6 +78,7 @@ class TestablePidController : public pid_controller::PidController
     const rclcpp_lifecycle::State & previous_state) override
   {
     auto ref_itfs = on_export_reference_interfaces();
+    auto state_itfs = on_export_state_interfaces();
     return pid_controller::PidController::on_activate(previous_state);
   }
 
diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp
index 3e17e69286..8e147b1ab6 100644
--- a/pid_controller/test/test_pid_controller_preceding.cpp
+++ b/pid_controller/test/test_pid_controller_preceding.cpp
@@ -92,6 +92,24 @@ TEST_F(PidControllerTest, check_exported_interfaces)
       ++ri_index;
     }
   }
+
+  // check exported state itfs
+  auto exported_state_itfs = controller_->export_state_interfaces();
+  ASSERT_EQ(exported_state_itfs.size(), dof_state_values_.size());
+  size_t esi_index = 0;
+  for (const auto & interface : state_interfaces_)
+  {
+    for (const auto & dof_name : reference_and_state_dof_names_)
+    {
+      const std::string state_itf_name =
+        std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
+      EXPECT_EQ(exported_state_itfs[esi_index].get_name(), state_itf_name);
+      EXPECT_EQ(
+        exported_state_itfs[esi_index].get_prefix_name(), controller_->get_node()->get_name());
+      EXPECT_EQ(exported_state_itfs[esi_index].get_interface_name(), dof_name + "/" + interface);
+      ++esi_index;
+    }
+  }
 }
 
 int main(int argc, char ** argv)